基于牛顿欧拉法的2UPS-2RPS并联机构逆动力学分

2UPS-2RPS为具有两种不同支链结构的4自由度并联机构，具有结构简单，制造成本低，控制容易等优点。由于自由度数目少于6，机构的支链不仅传递驱动力，同时还向末端提供约束力，因此在对机构动力学控制及尺度和截面参数动力学优化时，驱动力和约束力分析都是必要的。本文运用牛顿欧拉法建立了该机构的逆动力学方程。在给定动平台的运动规律和外力后，通过动力学方程求解得出所需驱动力和约束力矩，并给出仿真实例。

Dynamics of a 2UPS-2RPS Parallel Mechanism by Newton-Euler Formulation

2UPS-2RPS is a 4-DOF parallel mechanism with two different structure limbs. It has the advantages of simple mechanical structure, low manufacturing cost, and simple control algorithm. The number of its DOF is less than six, the limbs not only transmitting driving force but also constraint force at the same time. So both the required driving and constraint force analysis are necessary in the dynamic control and optimization design of the mechanism. Inverse dynamics equations of the mechanism were modeled by using the Newton-Euler formulation, through solving the equations, the required driving and constraint forces can be obtained when the motion of moving platform and working load were given. A computational example was also provided.